CN111603243B

CN111603243B - Minimally invasive surgery robot operating tool

Info

Publication number: CN111603243B
Application number: CN202010608318.3A
Authority: CN
Inventors: 王树新; 胡振璇; 李进华; 李建民
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-11-16
Anticipated expiration: 2040-06-30
Also published as: CN111603243A; WO2022000709A1

Abstract

The present disclosure provides a minimally invasive surgical robot operating tool, comprising: the end effector, the active elastic joint, the joint mechanism, the passive elastic joint and the driving component; the end effector is connected with the torsion-resistant flexible shaft; the first end of the joint mechanism is simultaneously connected with the end effector and the active elastic joint, and the active elastic joint is positioned between the joint mechanism and the end effector; the first end of the passive elastic joint is connected with the second end of the joint mechanism, and the second end of the passive elastic joint is connected with the first end of the flexible multi-cavity tube; a drive assembly is connected to the second end of the flexible multi-lumen tube; the driving assembly drives the end effector to open, close and do rotary motion through the anti-torsion flexible shaft; the driving component drives the active elastic joint to perform bending motion. The minimally invasive surgery robot operation tool provided by the disclosure has the advantages of variable rigidity and freedom, convenience in adjustment, capability of meeting different operation requirements, and wide application range.

Description

Minimally invasive surgery robot operating tool

Technical Field

The disclosure relates to the field of minimally invasive surgery robots, in particular to a minimally invasive surgery robot operating tool with variable rigidity and freedom.

Background

The minimally invasive surgical tool has the advantages of small surgical wound, less bleeding, quick recovery time, good beautifying effect and the like. The traditional minimally invasive surgical tool is mostly in the shape of a long straight rod, is held by a doctor, is placed in the chest cavity, the abdominal cavity or other parts through tiny wounds, and is matched with a medical endoscope to complete surgical operation under a display picture. The operation of the natural cavity of the human body requires that the operation tool has high flexibility to adapt to the narrow and curved changeable cavity of the human body, so that the operation tools are mostly flexible tools. But the popularization and application of the operation mode are limited due to the lack of effective operation tools.

The rigid straight rod type surgical tool has high rigidity, large operating force and accurate movement, but is difficult to pass through narrow and bent changeable cavities of a human body, and the movement and operation space is limited, so that the rigid straight rod type surgical tool cannot adapt to a natural cavity surgery mode of the human body. The flexible surgical tool can adapt to narrow cavities of human bodies, but has redundant flexibility and insufficient rigidity, and is difficult to provide larger operating force.

The existing minimally invasive surgical robot tool only has fixed freedom degree and operation space, few tools with variable rigidity exist, the rigidity transformation process is long in time consumption, and the minimally invasive surgical robot tool is not suitable for surgical operation.

Disclosure of Invention

Technical problem to be solved

The present disclosure provides a minimally invasive surgical robotic manipulation tool to at least partially solve the technical problems set forth above.

(II) technical scheme

According to an aspect of the present disclosure, there is provided a minimally invasive surgical robotic manipulation tool, comprising:

the end effector is connected with the anti-torsion flexible shaft;

the first end of the joint mechanism is simultaneously connected with the end effector and the active elastic joint, and the active elastic joint is positioned between the joint mechanism and the end effector;

a first end of the passive elastic joint is connected with a second end of the joint mechanism, and the second end of the passive elastic joint is connected with a first end of the flexible multi-cavity tube; the active elastic joint and/or the passive elastic joint are in a rigid state or an elastic state by the adjusting joint mechanism;

a drive assembly coupled to the second end of the flexible multi-lumen tube; the driving assembly drives the end effector to open, close and do rotary motion through the anti-torsion flexible shaft; the driving component drives the active elastic joint to perform bending motion.

In some embodiments of the present disclosure, the joint mechanism comprises:

the inner layer pipe is sleeved on the torsion resistant flexible shaft; a first flute structure is arranged on the inner layer pipe;

the outer layer pipe is sleeved on the inner layer pipe; the outer layer pipe is provided with a second groove structure;

the first flute construction is aligned with the second flute construction, and the articulation mechanism is in a flexible state; the inner tube rotates around an axis or translates along the axis, the first groove structure and the second groove structure generate phase difference, and the joint mechanism is in a rigid state.

In some embodiments of the present disclosure, the flute shapes of the first and second flute arrangements are the same or different.

In some embodiments of the present disclosure, the active elastic joint and the passive elastic joint each comprise at least one elastic joint unit; and the degree of freedom of each active elastic joint and each passive elastic joint can be changed.

In some embodiments of the present disclosure, a passage hole is provided in each of the elastic joint units.

In some embodiments of the present disclosure, the end effector further comprises:

the two opening and closing clamps are connected through the clamp fixing pin, so that the two opening and closing clamps rotate around the clamp fixing pin; the opening and closing clamp is provided with a sliding chute, and the sliding chutes arranged on the two opening and closing clamps form an included angle;

the sliding pin is arranged in the sliding groove;

the first end of the pull rod is connected with the sliding pin, the second end of the pull rod is connected with the anti-torsion flexible shaft, the pull rod drives the sliding pin to slide in the sliding groove, so that the two opening and closing clamps rotate around the clamp fixing pin to perform opening and closing movement.

the supporting seat is connected with the outer layer of the first end of the joint mechanism;

the rotary bearing is sleeved on the supporting seat;

the rotary seat is sleeved on the rotary bearing, and the rotary bearing drives the rotary seat to rotate;

the anti-torsion flexible shaft rotates around the axis to drive the opening and closing clamp, the clamp fixing pin, the pull rod, the rotary seat and the rotary bearing to rotate around the supporting seat.

In some embodiments of the present disclosure, the drive assembly comprises:

the driving piece penetrates through the active elastic joint, the passive elastic joint and a channel hole formed in the flexible multi-cavity tube, and is connected with the active elastic joint;

and the driving mechanism is connected with a robot driving system through a driving joint, the driving mechanism drives the driving piece to stretch, and the driving piece drives the active elastic joint to perform bending motion.

In some embodiments of the present disclosure, the drive member is a drive wire and/or a resilient drive rod.

In some embodiments of the present disclosure, the active elastic joint and the passive elastic joint are spring mechanisms having rectangular cross sections.

(III) advantageous effects

According to the technical scheme, the minimally invasive surgical robot operating tool disclosed by the invention has at least one or part of the following beneficial effects:

(1) according to the surgical operation joint mechanism, the joint mechanism is adjusted through rotation and translation, so that the active elastic joint and/or the passive elastic joint are in a rigid state or an elastic state, and different surgical operation requirements are met.

(2) The active elastic joint and/or the passive elastic joint in the disclosure are formed by combining at least one elastic joint unit, and the number and the degree of freedom of the elastic joint units in the active elastic joint and/or the passive elastic joint can be adjusted, so that the motion range of the tool is changed, and the tool is suitable for different human body operation spaces.

Drawings

Fig. 1 is a schematic overall structure diagram of an operation tool of a minimally invasive surgery robot according to an embodiment of the disclosure.

Fig. 2 is a schematic cross-sectional view of an end effector of a minimally invasive surgical robotic manipulation tool according to an embodiment of the present disclosure.

Fig. 3 is a schematic joint diagram of a minimally invasive surgical robotic manipulation tool according to an embodiment of the present disclosure.

Fig. 4 is a partially cross-sectional schematic view of an articulation mechanism of a minimally invasive surgical robotic manipulation tool according to an embodiment of the present disclosure.

Fig. 5 is a cross-sectional schematic view of an elastic joint unit of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure.

Fig. 6a and 6b are schematic diagrams illustrating the flexibility state of the variable stiffness groove mechanism of the minimally invasive surgical robot operating tool according to the embodiment of the disclosure.

Fig. 7a and 7b are schematic diagrams illustrating rigidity states of the variable-rigidity groove mechanism of the minimally invasive surgical robot operating tool according to the embodiment of the disclosure.

Fig. 8a is a schematic view of a passive elastic joint of a robot operating tool for minimally invasive surgery according to an embodiment of the present disclosure.

Fig. 8b is a schematic view of a first flute configuration of a minimally invasive surgical robotic manipulation tool according to an embodiment of the present disclosure.

Fig. 8c is a schematic view of a second flute configuration of a minimally invasive surgical robotic manipulation tool according to an embodiment of the present disclosure.

Fig. 9a and 9b are schematic views of a groove structure of a robot operating tool for minimally invasive surgery according to an embodiment of the disclosure.

Fig. 10a, 10b, 10c and 10d are schematic diagrams illustrating the state of freedom change of the operation tool of the minimally invasive surgery robot according to the embodiment of the disclosure.

Fig. 11a is a schematic view of a flexible motion model of a manipulation tool of a minimally invasive surgical robot according to an embodiment of the present disclosure.

Fig. 11b is a schematic diagram of a rigid motion model of a minimally invasive surgical robot operating tool according to an embodiment of the disclosure.

Fig. 12a and 12b are three-dimensional joint schematic diagrams of a minimally invasive surgery robot operating tool according to an embodiment of the disclosure.

[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure

100-an end effector;

101a, 101 b-open and close clamp;

102-clamp fixation pins;

103-a chute;

104-a pull rod;

105-a sliding pin;

106-a slew bearing;

107-a support seat;

108-a turret;

200-active elastic joints;

201. 202, 203-elastic joint unit;

201 a-passage hole;

300-passive elastic joints;

400-a joint mechanism;

401 a-a first flute construction;

401 b-a second flute construction;

500-a torsionally flexible shaft;

600-a drive mechanism;

601-a drive joint;

700-flexible multi-lumen tubing.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.

In a first exemplary embodiment of the present disclosure, a minimally invasive surgical robotic manipulation tool is provided. Fig. 1 is a schematic overall structure diagram of an operation tool of a minimally invasive surgery robot according to an embodiment of the disclosure. As shown in fig. 1, the minimally invasive surgical robot operating tool of the present disclosure includes: end effector 100, active elastic joint 200, passive elastic joint 300, articulation mechanism 400, torsionally flexible shaft 500, flexible multi-lumen tube 700, and a drive assembly. Wherein the active elastic joint 200 is coupled to the end effector 100. The passive elastic joint 300 may pass through a curved passage and have a rebound function, and the passive elastic joint 300 maintains a vertical state without external constraint. The active elastic joint 200 and the passive elastic joint 300 are connected by a joint structure. In this embodiment the active elastic joint 200 and the passive elastic joint 300 are connected by a joint mechanism 400. The anti-torsion flexible shaft 500 is connected with the end effector 100, and the anti-torsion flexible shaft 500 drives the end effector 100 to rotate and open and close. A drive assembly is coupled to a second end of the flexible multi-lumen tube 700; the driving component drives the end effector 100 to open, close and rotate through the anti-torsion flexible shaft 500; the drive assembly drives the active elastic joint 200 to perform a bending motion.

Wherein, drive assembly includes: a driver and a drive mechanism 600. The driving mechanism 600 is connected to the robot driving system through a driving joint 601, and drives the driving member to extend and retract, thereby driving the active elastic joint 200 to perform bending motion. The driving member is arranged in the active elastic joint 200, the passive elastic joint 300 and the passage hole 201a arranged in the flexible multi-cavity tube 700 in a penetrating manner, and the driving member is connected with the active elastic joint 200. The driving member is a driving wire, an elastic driving rod, etc., which are not illustrated.

Fig. 2 is a schematic cross-sectional view of an end effector of a minimally invasive surgical robotic manipulation tool according to an embodiment of the present disclosure. As shown in fig. 2, the end effector 100 includes: an opening and closing clamp 101a, an opening and closing clamp 101b, a clamp fixing pin 102 and a pull rod 104; a slide pin 105; a slew bearing 106; a support base 107; a turret 108. In particular, the method comprises the following steps of,

the open-

close clamps

101a and 101b are used for clamping biological tissues, and can be any type of surgical forceps, scissors or other required surgical end functional instruments.

The clamp fixing pin 102 is used for fixing the two opening and closing clamps 101a and 101b and enabling the two opening and closing clamps 101a and 101b to rotate around the clamp fixing pin 102 to form opening and closing movement; the open-close clamp 101a and the open-close clamp 101b are provided with sliding grooves 103, and the sliding grooves 103 on the two open-

close clamps

101a and 101b have included angles.

The anti-torsion flexible shaft 500 is fixedly connected with the pull rod 104, the anti-torsion flexible shaft 500 pulls the pull rod 104, the pull rod 104 is connected with the sliding pin 105 to drive the sliding pin 105 to slide in the sliding groove 103, and the pull rod 104 reciprocates along an axis to drive the opening and closing clamp 101a and the opening and closing clamp 101b to rotate around the clamp fixing pin 102 to form opening and closing movement.

The support base 107 is connected to the second grooved structure 401b at the first end of the articulating mechanism 400; the rotary bearing 106 is sleeved on the supporting seat 107; the rotary seat 108 is sleeved on the rotary bearing 106 and drives the rotary seat 108 to rotate; the anti-torsion flexible shaft 500 rotates around the axis to drive the open-close clamp 101a, the open-close clamp 101b, the clamp fixing pin 102, the pull rod 104, the rotary seat 108 and the rotary bearing 106 to rotate around the support seat 107.

FIG. 3 is a schematic view of a joint of a robot operating tool for minimally invasive surgery according to the present invention. The active elastic joint 200 is a spring with a rectangular cross section (as shown in fig. 5) and includes at least one elastic joint unit, and the present embodiment is described by taking the structure of the active elastic joint 200 with three elastic joint units as an example, as shown in fig. 3, which includes an elastic joint unit 201, an elastic joint unit 202, and an elastic joint unit 203.

A channel hole 201a is arranged in the elastic joint unit 201, and the channel hole 201a passes through a driving wire or an elastic driving rod; the driving wire or the elastic driving rod stretches and retracts to drive the active elastic joint 200 to perform bending motion. Similar to the elastic joint unit 201, all the elastic joint units are provided with passage holes 201a, such as the elastic joint unit 202, the elastic joint unit 203 in fig. 3.

The passive elastic joint 300 is a spring with a rectangular cross section and is provided with a passage hole 201a, and the layout of the passage hole 201a of the passive elastic joint 300 is the same as that of the passage hole 201a of the active elastic joint 200.

The flexible multi-lumen tube 700 may be bent in any direction, with a curvature that smoothly varies with the body lumen. The flexible multilumen tubing 700 is provided with access holes 201a, and the access holes 201a of the flexible multilumen tubing 700 are arranged in the same way as the access holes 201a of the active elastic joint 200 or the passive elastic joint 300.

As shown in fig. 4, the joint mechanism 400 is specifically a variable stiffness elastic groove mechanism in the present embodiment. Wherein, joint structure 400 includes: the inner layer pipe and the outer layer pipe are sleeved outside the inner layer pipe. The inner tube is provided with a first fluted construction 401a and the outer tube is provided with a second fluted construction 401 b. The first flute configuration 401a can have the same or different flutes as the second flute configuration 401 b. The present invention is illustrated with orthogonal rectangular grooves as an example, as shown in fig. 8. The flute shape can be other shapes such as helical flutes, C-shaped flutes, etc. as shown in fig. 9.

When the first grooved structure 401a and the second grooved structure 401b are grooved and aligned, the joint mechanism 400 is flexible and can be elastically bent, and the active elastic joint 200 can generate an anisotropic bending motion under the driving of the driving mechanism 600, so as to meet the requirement of a surgical operation requiring higher flexibility, as shown in fig. 6. The first flute structure 401a is rotated around an axis or translated along the axis, so that the first flute structure 401a and the second flute structure 401b are in phase difference, and the rigidity of the joint mechanism 400 is changed and is in a rigid state, so as to meet the requirement of a surgical operation requiring large operation force, as shown in fig. 7. When the first groove pattern 401a and the second groove pattern 401b are staggered, that is, when a phase difference occurs, the joint mechanism 400 is in a rigid state, and the elastic joint unit 201 (or the elastic joint unit 202 or the elastic joint unit 203) in the active elastic joint 200 is kept in a rigid state, or the passive elastic joint 300 is kept in a rigid state.

When the joint mechanism 400 is in the rigid state, the elastic joint unit 201 (or the elastic joint unit 202 or the elastic joint unit 203) in the active elastic joint 200 is kept in the rigid state and is not bendable, and the degree of freedom is reduced. The elastic joint unit 201, the elastic joint unit 202, the elastic joint unit 203 or the passive elastic joint 300 may be individually or simultaneously maintained in a rigid state, and the number of joints in the rigid state varies depending on the state of the joint mechanism 400.

As shown in fig. 10a, 10b, 10c, and 10d, black is a rigid elastic joint. When one or more of the elastic joints remain rigid, the number of active joints changes, and thus the tool motion space changes.

In a second exemplary embodiment of the present disclosure, a minimally invasive surgical robotic manipulation tool is provided. As shown in fig. 11a, 11b, 12a and 12b, the joint mechanism 400 can change the motion mode of the active elastic joint 200 according to another function. In the flexible state, the active elastic joint 200 may produce a bending motion, forming a flexible joint. In the rigid state, the elastic joint unit 201, the elastic joint unit 202, and the elastic joint unit 203 in the active elastic joint 200 are kept in the straight-bar state, and the motion mode is changed to rigid link motion. At this time, the joint mechanism 400 connected between the elastic joints can move, so that the robot operating tool for minimally invasive surgery of the present invention is changed into a linkage rod to perform a linkage rod movement, as shown in fig. 12a and 12 b.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

From the above description, those skilled in the art should have a clear understanding of the minimally invasive surgical robot manipulator of the present disclosure.

In conclusion, the minimally invasive surgery robot operating tool with the variable rigidity and the variable degree of freedom is convenient to adjust, capable of meeting different surgery operation requirements, wide in application range and widely applied to the field of minimally invasive surgery robots.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A minimally invasive surgical robotic manipulation tool, comprising:

the end effector is connected with the anti-torsion flexible shaft;

a first end of the passive elastic joint is connected with a second end of the joint mechanism, and the second end of the passive elastic joint is connected with a first end of the flexible multi-cavity tube; adjusting the joint mechanism to enable the active elastic joint and/or the passive elastic joint to be in a rigid state or an elastic state;

a drive assembly coupled to the second end of the flexible multi-lumen tube; the driving assembly drives the end effector to open, close and do rotary motion through the anti-torsion flexible shaft; the driving component drives the active elastic joint to perform bending motion;

wherein the joint mechanism includes:

2. The minimally invasive surgical robotic manipulation tool of claim 1, wherein the flute shapes of the first and second flute arrangements are the same or different.

3. The minimally invasive surgical robotic manipulation tool of claim 1, wherein the active elastic joint and the passive elastic joint each comprise at least one elastic joint unit; and the degree of freedom of each active elastic joint and each passive elastic joint can be changed.

4. The minimally invasive surgical robotic manipulation tool of claim 3, wherein a channel hole is provided in each of the elastic joint units.

5. The minimally invasive surgical robotic manipulation tool of claim 1, wherein the end effector further comprises:

the sliding pin is arranged in the sliding groove;

6. The minimally invasive surgical robotic manipulation tool of claim 5, wherein the end effector further comprises:

the rotary bearing is sleeved on the supporting seat;

7. The minimally invasive surgical robotic manipulation tool of claim 1, wherein the drive assembly comprises:

8. The minimally invasive surgical robotic manipulation tool of claim 7, wherein the drive member is a drive wire and/or an elastic drive rod.

9. The minimally invasive surgical robotic manipulation tool of any one of claims 1-8, wherein the active elastic joint and the passive elastic joint are spring mechanisms that are rectangular in cross-section.